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Observer design for a class of nonlinear systems combining dissipativity with interconnection and damping assignment
Author(s) -
Biedermann Bastian,
Meurer Thomas
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5461
Subject(s) - passivity , control theory (sociology) , interconnection , observer (physics) , nonlinear system , dissipative system , state observer , affine transformation , computer science , separation principle , hamiltonian system , alpha beta filter , mathematics , engineering , control (management) , physics , kalman filter , mathematical analysis , computer network , quantum mechanics , artificial intelligence , extended kalman filter , pure mathematics , electrical engineering , moving horizon estimation
A nonlinear observer design approach is proposed that exploits and combines port‐Hamiltonian systems and dissipativity theory. First, a passivity‐based observer design using interconnection and damping assignment for time variant state affine systems is presented by applying output injection to the system such that the observer error dynamics takes a port‐Hamiltonian structure. The stability of the observer error system is assured by exploiting its passivity properties. Second, this setup is extended to develop an observer design approach for a class of systems with a time varying state affine forward and a nonlinear feedback contribution. For a class of nonlinear systems, the theory of dissipative observers is adapted and combined with the results for the passivity‐based observer design using interconnection and damping assignment. The convergence of the compound observer design is determined by a linear matrix inequality. The performance of both observer approaches is analyzed in simulation examples.